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Tetragramm
GitHub Repository: Tetragramm/opencv
 Path: blob/master/modules/calib3d/test/test_chessboardgenerator.hpp
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// This file is part of OpenCV project.

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// It is subject to the license terms in the LICENSE file found in the top-level directory

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// of this distribution and at http://opencv.org/license.html.

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#ifndef CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P

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#define CV_CHESSBOARDGENERATOR_H143KJTVYM389YTNHKFDHJ89NYVMO3VLMEJNTBGUEIYVCM203P

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namespace cv

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{

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using std::vector;

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class ChessBoardGenerator

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{

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public:

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    double sensorWidth;

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    double sensorHeight;

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    size_t squareEdgePointsNum;

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    double min_cos;

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    mutable double cov;

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    Size patternSize;

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    int rendererResolutionMultiplier;

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    ChessBoardGenerator(const Size& patternSize = Size(8, 6));

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    Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, std::vector<Point2f>& corners) const;

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    Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, std::vector<Point2f>& corners) const;

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    Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, const Size2f& squareSize, const Point3f& pos, std::vector<Point2f>& corners) const;

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    Size cornersSize() const;

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    mutable std::vector<Point3f> corners3d;

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private:

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    void generateEdge(const Point3f& p1, const Point3f& p2, std::vector<Point3f>& out) const;

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    Mat generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,

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        const Point3f& zero, const Point3f& pb1, const Point3f& pb2,

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        float sqWidth, float sqHeight, const std::vector<Point3f>& whole, std::vector<Point2f>& corners) const;

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    void generateBasis(Point3f& pb1, Point3f& pb2) const;

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    Mat rvec, tvec;

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};

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}

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#endif

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